apollo::external_command::CommandProcessorBase类 参考

#include <command_processor_base.h>

类 apollo::external_command::CommandProcessorBase 继承关系图:

apollo::external_command::CommandProcessorBase 的协作图:

Public 成员函数
	CommandProcessorBase ()
virtual	~CommandProcessorBase ()=default
virtual bool	Init (const std::shared_ptr< cyber::Node > &node)
virtual bool	GetCommandStatus (int64_t command_id, CommandStatus *status) const =0
	Get the command status.

Protected 成员函数
const CommandProcessorConfig &	GetProcessorConfig () const
const std::shared_ptr< cyber::Node > &	Node () const

详细描述

在文件 command_processor_base.h 第 43 行定义.

构造及析构函数说明

CommandProcessorBase()

apollo::external_command::CommandProcessorBase::CommandProcessorBase

(

)

在文件 command_processor_base.cc 第 38 行定义.

    : processor_config_(std::make_shared<CommandProcessorConfig>()) {}

~CommandProcessorBase()

virtual apollo::external_command::CommandProcessorBase::~CommandProcessorBase ( )

virtualdefault

成员函数说明

GetCommandStatus()

virtual bool apollo::external_command::CommandProcessorBase::GetCommandStatus ( int64_t  command_id, CommandStatus *  status  ) const

pure virtual

Get the command status.

参数

command_id	Id of the command.
status	Output command status.

在 apollo::external_command::ActionCommandProcessor, apollo::external_command::ChassisCommandProcessor, apollo::external_command::MotionCommandProcessorBase< T >, apollo::external_command::MotionCommandProcessorBase< FreeSpaceCommand >, apollo::external_command::MotionCommandProcessorBase< LaneFollowCommand >, apollo::external_command::MotionCommandProcessorBase< PathFollowCommand >, apollo::external_command::MotionCommandProcessorBase< PreciseParkingCommand >, apollo::external_command::MotionCommandProcessorBase< ValetParkingCommand >, apollo::external_command::MotionCommandProcessorBase< ZoneCoverCommand > , 以及 apollo::external_command::SpeedCommandProcessor 内被实现.

GetProcessorConfig()

const CommandProcessorConfig & apollo::external_command::CommandProcessorBase::GetProcessorConfig ( ) const

protected

在文件 command_processor_base.cc 第 58 行定义.

                                                                             {
  return *processor_config_;
}

Init()

bool apollo::external_command::CommandProcessorBase::Init ( const std::shared_ptr< cyber::Node > &  node )

virtual

被 apollo::external_command::ActionCommandProcessor, apollo::external_command::ChassisCommandProcessor, apollo::external_command::MotionCommandProcessorBase< T >, apollo::external_command::MotionCommandProcessorBase< FreeSpaceCommand >, apollo::external_command::MotionCommandProcessorBase< LaneFollowCommand >, apollo::external_command::MotionCommandProcessorBase< PathFollowCommand >, apollo::external_command::MotionCommandProcessorBase< PreciseParkingCommand >, apollo::external_command::MotionCommandProcessorBase< ValetParkingCommand >, apollo::external_command::MotionCommandProcessorBase< ZoneCoverCommand > , 以及 apollo::external_command::SpeedCommandProcessor 重载.

在文件 command_processor_base.cc 第 41 行定义.

                                                                    {
  int status;
  std::string class_name =
      abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
  // Generate the default task config path from PluginManager.
  std::string config_path =
      apollo::cyber::plugin_manager::PluginManager::Instance()
          ->GetPluginConfPath<CommandProcessorBase>(class_name,
                                                    "conf/config.pb.txt");
  if (!cyber::common::GetProtoFromFile(config_path, processor_config_.get())) {
    AERROR << "Cannot get config of " << class_name;
    return false;
  }
  node_ = node;
  return true;
}

Node()

const std::shared_ptr< cyber::Node > & apollo::external_command::CommandProcessorBase::Node ( ) const

protected

在文件 command_processor_base.cc 第 62 行定义.

                                                                 {
  return node_;
}

---

该类的文档由以下文件生成:

• modules/external_command/command_processor/command_processor_base/command_processor_base.h
• modules/external_command/command_processor/command_processor_base/command_processor_base.cc